To investigate walking we perform experimental studies on animals in parallel with software and hardware simulations of the control structures and the body to be controlled. Therefore, the primary goal of our simulation studies is not so much to develop a technical device, but to develop a system which can be used as a scientific tool to study insect walking. To this end, the animat should copy essential properties of the animals. In this review, we will first describe the basic behavioral properties of hexapod walking, as the are known from stick insects. Then we describe a simple neural network called Walknet which exemplifies these properties and also shows some interesting emergent properties. The latter arise mainly from the use of the physical properties to simplify explicit calculations. The model is simple too, because it uses only static neuronal units. Finally, we present some new behavioral results. (C) 1998 Elsevier Science Ltd. All rights reserved.